def fast_conf():
#config vitesse rotation
robot.com("-X -x5 -y12 -m1")
#config acceleration lineaire
robot.com("-X -x500 -y500 -m0")
#config pid
robot.com("-D -x0.0001 -y0.0004 -t-0.000 -m0")
robot.com("-D -x0.5 -y-0.2 -t-0.000 -m1")
def init_robot():
global black_button_pressed
try:
GPIO.setup(robot.trig_button, GPIO.IN)
GPIO.setup(robot.col_button, GPIO.IN)
GPIO.setup(robot.but1_button, GPIO.IN)
GPIO.setup(robot.but2_button, GPIO.IN)
GPIO.add_event_detect(robot.but2_button,
GPIO.FALLING,
callback=black_button_callback,
bouncetime=300)
except:
pass
boot_ok = False
while (boot_ok == False):
black_button_pressed = False
print("BOOT ok.")
if exists(robot.asserv_out_file) == False:
print("start first robot deamon")
robot.my_lcd.write("no deamon...")
quit()
if exists(robot.asserv_in_file) == False:
print("start first robot deamon")
robot.my_lcd.write("no deamon...")
quit()
print("ca va passer?")
#config angulaire
# fast_conf()
print("stop asserv")
robot.com("-B -m0")
print("motor 1 back")
robot.com("-B -x-0 -m1")
print("motor 2 back")
robot.com("-B -x-0 -m2")
print("les choses serieuses")
robot.my_lcd.write("deamon connected...")
# reponse=robot.com("-E")
# print(reponse)
print("changer 3 fois la couleur pour selectionner la couleur")
robot.my_lcd.write("chg 3 times col")
GPIO.wait_for_edge(robot.col_button, GPIO.RISING)
if (black_button_pressed == True):
print("black button pressed, it should continue")
continue
print("changer 2 fois la couleur pour selectionner la couleur")
robot.my_lcd.write("chg 2 times col")
GPIO.wait_for_edge(robot.col_button, GPIO.RISING)
if (black_button_pressed == True):
print("black button pressed, it should continue")
continue
print("changer 1 fois la couleur pour selectionner la couleur")
robot.my_lcd.write("chg 1 times col")
GPIO.wait_for_edge(robot.col_button, GPIO.RISING)
if (black_button_pressed == True):
print("black button pressed, it should continue")
continue
robot.my_lcd.write("color : ")
robot.my_lcd.write("press blue then")
while GPIO.input(robot.but1_button) == 1:
if GPIO.input(robot.col_button) == 1:
robot.color = "jaune"
robot.my_lcd.lcd_display_string("jaune ", 1, 8)
else:
robot.color = "violet"
robot.my_lcd.lcd_display_string("violet", 1, 8)
if (black_button_pressed == True):
print("black button pressed, it should continue")
continue
time.sleep(0.1)
if (black_button_pressed == True):
print("black button pressed, it should continue")
if GPIO.input(robot.trig_button) == 0:
robot.my_lcd.write("remove trigger")
GPIO.wait_for_edge(robot.trig_button, GPIO.RISING)
if (black_button_pressed == True):
print("black button pressed, it should continue")
continue
robot.my_lcd.write("insert trigger")
GPIO.wait_for_edge(robot.trig_button, GPIO.FALLING)
if (black_button_pressed == True):
print("black button pressed, it should continue")
continue
robot.my_lcd.write("press blue again")
GPIO.wait_for_edge(robot.but1_button, GPIO.FALLING)
if (black_button_pressed):
continue
robot.my_lcd.write("red button and blue again")
GPIO.wait_for_edge(robot.but1_button, GPIO.FALLING)
if (black_button_pressed):
continue
print("couleur robot", robot.color)
if (robot.color == "jaune"):
reponse = robot.com("-Y -x500 -y 500 -t1.57079632679")
robot.my_lcd.write("righ !")
fthewall("derriere")
robot.turn(-1.57079632679, 0)
while (robot.com("-E") != "yes"):
time.sleep(0.1)
else:
reponse = robot.com("-Y -x500 -y 2500 -t4.71238898038")
robot.my_lcd.write("left !")
fthewall("devant")
robot.turn(1.57079632679, 0)
while (robot.com("-E") != "yes"):
time.sleep(0.1)
print("F*** The Wall!")
robot.my_lcd.write("f the wall : ")
time.sleep(1)
robot.my_lcd.write("go! ")
fthewall("gauche")
print("placement en position initiale")
if (robot.color == "jaune"):
print("pour les JAUNE")
# reponse=robot.com("-G -x470 -y250 -t3.14159265359 -m0")
robot.go_direct(470, 250, 3.14159265359, -1, False)
else:
print("pour le VIOLET")
# reponse=robot.com("-G -x470 -y2750 -t3.14159265359 -m0")
robot.go_direct(470, 2750, 3.14159265359, -1, False)
print(reponse)
truc = ""
while (robot.com("-E") != "yes"):
time.sleep(0.1)
print("wait for trigger")
GPIO.wait_for_edge(robot.trig_button, GPIO.RISING)
if (black_button_pressed == True):
print("black button pressed, it should continue")
continue
time.sleep(0.1)
boot_ok = True
def fthewall(cote):
print("stop asserv")
robot.com("-B -m0")
time.sleep(0.1)
print("motor 1 back")
robot.com("-B -x0.75 -m1")
time.sleep(0.1)
print("motor 2 back")
robot.com("-B -x0.75 -m2")
time.sleep(0.1)
time.sleep(2)
reponse = ""
reponse = robot.com("-V")
print("speed response:", reponse)
speed = shlex.split(reponse)
while (abs(float(speed[0])) > 0.01 or abs(float(speed[1])) > 0.01):
time.sleep(0.1)
reponse = robot.com("-V")
speed = shlex.split(reponse)
print("speed response:", reponse)
print(speed[0])
print(speed[1])
if cote == "gauche":
print("bump cote gauche....")
print("-Y -x-" + str(-1500 + robot.robot_base) + " -t" +
str(3.14159265359 + robot.angle_base))
reponse = robot.com("-Y -x" + str(0 + robot.robot_base) + " -t" +
str(3.14159265359 + robot.angle_base))
elif cote == "droite":
reponse = robot.com("-Y -x" + str(2000 - robot.robot_base) + " -t" +
str(0 + robot.angle_base))
elif cote == "devant":
reponse = robot.com("-Y -y" + str(3000 - robot.robot_base) + " -t" +
str(1.57079632679 + robot.angle_base))
elif cote == "derriere":
reponse = robot.com("-Y -y" + str(0 + robot.robot_base) + " -t" +
str(4.71238898038 + robot.angle_base))
else:
print("bump rien....")
robot.com("-B -m-1")
#on avance a nouveau
if cote == "gauche":
reponse = robot.com("-G -r -x0 -y-220 -t0 -m0")
else:
reponse = robot.com("-G -r -x0 -y-150 -t0 -m0")
print("on attent l'arrivee du robot...")
while (robot.com("-E") != "yes"):
time.sleep(0.1)
if os.getuid() != 0:
print("il faut etre admin (sudo)")
robot.my_lcd.write("not root")
quit()
#timer.start_robot_daemon()
robot.my_lcd.write("go 2019!")
timer.start_robot_daemon()
robot.my_lcd.write("daemon start")
servo.open_servo()
time.sleep(0.5)
servo.close_servo()
servo.servo(0, 0)
robot.com("-X -x500 -y500 -m0")
robot.com("-D -x0.0001 -y0.0004 -t-0.000 -m0")
robot.com("-D -x0.5 -y-0.2 -t-0.000 -m1")
boot.init_robot()
thread_1 = timer.timer()
thread_1.start()
#thread_2 = timer.unbreak()
#thread_2.start()
#depart:450;250;pi
robot.set_lidar()
score = 0
if (robot.color == "jaune"):
#sortie
robot.go_arc(270, 450, 1.50, 1, False)
def servo(id, pos):
robot.com("-S -t" + str(pos) + " -m" + str(id))
print("il faut etre admin (sudo)")
robot.my_lcd.write("not root")
quit()
#timer.start_robot_daemon()
robot.my_lcd.write("go 2019!")
timer.start_robot_daemon()
robot.my_lcd.write("daemon start")
open_servo()
time.sleep(0.5)
close_servo()
servo(0,0)
GPIO.setup(robot.trig_button,GPIO.IN)
robot.com("-X -x500 -y500 -m0")
robot.com("-D -x0.0001 -y0.0004 -t-0.000 -m0")
robot.com("-D -x0.5 -y-0.2 -t-0.000 -m1")
GPIO.wait_for_edge(robot.trig_button, GPIO.RISING)
thread_1 = timer.timer()
thread_1.start()
robot.set_lidar()
robot.com("-Y -x1000 -y250 -t1.57")
robot.go_direct(1000,1250,1.57,1,False)
open_servo()
robot.go_direct(1000,350,1.57,-1,False)
# time.sleep(0.5)
# robot.go_direct(250,2200,1.50,1,False)
# servo(0,1.5)
# 0x090 0x27 /*P8.7, button 6*/
# 0x094 0x27 /*P8.8, button 7 /
# 0x044 0x27 /*P8.32 button 5*/
# 0x0dc 0x27 /*P9.23 button 3*/
import time
import boot
import robot
import opponent
boot.fast_conf()
robot.com("-S -m0 -t0")
robot.com("-S -m1 -t1.5")
robot.com("-S -m3 -t0")
while (True):
i = 0
while (opponent.check_danger() == False):
if (i == 2):
robot.my_lcd.write(" .")
i = 0
if (i == 1):
robot.my_lcd.write(" . ")
i = 2
if (i == 0):
robot.my_lcd.write(". ")
i = 1
robot.my_lcd.write("detection!")
robot.com("-S -m0 -t0.5")
time.sleep(0.3)
import time
import boot
import robot
import opponent
robot.unset_lidar()
#config vitesse rotation
robot.com("-X -x5 -y12 -m1")
time.sleep(0.1)
#config acceleration lineaire
robot.com("-X -x700 -y800 -m0")
time.sleep(0.1)
#config pid
robot.com("-D -x0.002 -y0.0001 -t-0.000 -m0")
#boot.fast_conf()
robot.com("-X -x5 -y12 -m1")
time.sleep(0.1)
#config acceleration lineaire, vitesse puis acceleration
robot.com("-X -x500 -y00 -m0")
time.sleep(0.1)
#config pid
robot.com("-X -x300 -y100 -m0")